Dynamic Modeling and Robust Control Strategy of Cable-Driven Single Joint Continuum Robot

摘要

In the application of an unstructured environment, a continuum robot has more advantages than a conventional robot. However, its dynamic modeling and control are more complex. In this paper, -we design a cable-driven single, joint continuum robot and take it as a research object. First, based on the constant curvature hypothesis, the dynamic model of the continuum robot is established according to the structure using the Lagrange method. Then, a robust H,, controller based on LMI is proposed by considering the model perturbation in the modeling process,. Finally, the availability of the designed controller is verified by simulation and experiment.